Yamaha YK-X Series User Manual page 76

CHAPTER 3 Installation
Here, working envelope and mechanical stopper positions for the maximum work-
ing envelope of a robot are described using the YK500XG as an example.
Refer to Fig. 3-31 YK500XG. Other robot models are the same.
1) X and Y axes
1. Do not attempt operation outside the working envelope. On the YK-XG
series, the origin can be set at a discrete position. The working envelope
described in this manual is an area with the robot frontal reference when
no load is applied.
2. Interference positions where a load may touch the robot within the work-
ing envelope and their radii are shown in the figure. Here, "a", "b", "c" and
"d" are the respective interference positions with the base front panel, base
side panel, base rear panel, and base corners. Be careful not to allow the
robot load to interfere with any part of the robot.
The Z-axis spline may touch the base or the Y-axis arm may touch the
wire harness before the robot strikes the X-axis or Y-axis mechanical stop-
pers, so use caution.
3. Interference positions where a load might touch the robot within the maxi-
mum movement range and their radii are shown in the figure. Here, "a",
"b", "c" and "d" are the respective interference positions with the base
front panel, base side panel, base rear panel and the base corners. The Z-
axis spline may touch the base or the Y-axis arm may touch the wire har-
ness before the robot strikes the X-axis or Y-axis mechanical stoppers, so
use caution.
2) Z-axis
Do not attempt work outside the working envelope. In particular, do not at-
tempt work in the area between the working envelope and mechanical stop-
per position. Mechanical stoppers are installed at both the upper and lower
ends of the movement range.
WARNING
The robot cable, user wiring or tubing may be damaged if the robot load inter-
feres with them resulting in hazardous robot malfunctions. Do not operate at
points where the load may interfere with the robot cable, user wiring or tubing.
3) R-axis
The R-axis has no mechanical stoppers.
! CAUTION
Since the R-axis has no mechanical stoppers, make certain that the end effec-
tor wiring and tubing do not become entangled during operation.
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